/******************************************************************************
 * Copyright 2019 The Apollo Authors. All Rights Reserved.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *****************************************************************************/

/**
 * @file
  Modification: Only some functions are referenced
**/

#pragma once
#include <algorithm>
#include "path_struct.h"
class FeasibleRegion
{
public:
    FeasibleRegion() = default;
    explicit FeasibleRegion(const std::array<double, 3> &init_s);

    double SUpper(const double t) const;

    double SLower(const double t) const;

    double VUpper(const double t) const;

    double VLower(const double t) const;

    double TLower(const double s) const;

private:
    std::array<double, 3> init_s_;

    double t_at_zero_speed_;

    double s_at_zero_speed_;

    ;
};